ID : 5029

LoadPathPoint

Function

To load a path data.

Syntax

LoadPathPoint path point number

Guaranteed Entry

Path number: Designate path number (1 to 20) by integer type data.

Description

Clear the path data of designated path number and load the path data in storage memory.

Attention

When turning on (starting up) a controller, path data will be loaded from storage memory automatically. So, you don't need to load them with this command except the following cases.

When ClrPathPoint has been done in the last minute.
When you set that path data will be cleared at the time of Takearm.
When you do AddPathPoint.

Example

#Define Home P(300,0,300,180,0,180,-1)
#Define PartsNum I[10]
#Define BasePathNum 10

Sub Main
	Dim PathNum As Integer	'Path data for each part number
	Dim Pos As Position
	Dim n As Integer

	LoadPathPoint BasePathNum 'Initialization (Back to basic path data)
	
	PathNum = Int(PartsNum / 1000)	'Set a path number for the part number (4th digit)
	For n = 1 To GetPathPointCount(PathNum)
		Pos = GetPathPoint(PathNum, n)	'Load path point data for the part number
		AddPathPoint BasePathNum, Pos	'Add path point to the basic path
	Next
	TakeArm
	Move S, BasePathNum, Speed = Mps(150)	'Move the robot by free curve interpolation
	
	Move P, Home
End Sub